# hw definition file for processing by chibios_hwdef.py # for the RadiolinkPIX6 hardware # MCU class and specific type. MCU STM32F7xx STM32F767xx # crystal frequency OSCILLATOR_HZ 24000000 # board ID for firmware load APJ_BOARD_ID 1410 FLASH_RESERVE_START_KB 32 # flash size FLASH_SIZE_KB 2048 # ChibiOS system timer STM32_ST_USE_TIMER 5 # order of UARTs (and USB) SERIAL_ORDER OTG1 USART2 USART3 USART1 UART4 UART7 OTG2 # default the 2nd interface to MAVLink2 until MissionPlanner updates drivers define HAL_OTG2_PROTOCOL SerialProtocol_MAVLink2 # now we define the pins that USB is connected on PA11 OTG_FS_DM OTG1 PA12 OTG_FS_DP OTG1 # these are the pins for SWD debugging with a STlinkv2 or black-magic probe PA13 JTMS-SWDIO SWD PA14 JTCK-SWCLK SWD # SPI1 - internal sensors PB3 SPI1_SCK SPI1 PA6 SPI1_MISO SPI1 PD7 SPI1_MOSI SPI1 # SPI2 - FRAM PA9 SPI2_SCK SPI2 PB14 SPI2_MISO SPI2 PB15 SPI2_MOSI SPI2 # SPI4 - sensors2 PE2 SPI4_SCK SPI4 PE13 SPI4_MISO SPI4 PE6 SPI4_MOSI SPI4 # sensor CS PB12 BMI088_A_CS CS PB4 ICM42688_CS CS SPEED_VERYLOW PD10 FRAM_CS CS SPEED_VERYLOW PA8 AT7456_CS CS PE12 BMI088_G_CS CS PC14 EXTERNAL1_CS1 CS PC15 EXTERNAL1_CS2 CS # I2C buses PB8 I2C1_SCL I2C1 PB9 I2C1_SDA I2C1 PB10 I2C2_SCL I2C2 PB11 I2C2_SDA I2C2 # order of I2C buses I2C_ORDER I2C1 I2C2 # enable pins PE3 VDD_3V3_SENSORS_EN OUTPUT HIGH # start peripheral power off, then enable after init # this prevents a problem with radios that use RTS for # bootloader hold PD13 nVDD_5V_HIPOWER_EN OUTPUT HIGH PC4 nVDD_5V_PERIPH_EN OUTPUT HIGH # drdy pins PD15 DRDY7_EXTERNAL1 INPUT # Control of Spektrum power pin PE4 SPEKTRUM_PWR OUTPUT HIGH GPIO(73) define HAL_GPIO_SPEKTRUM_PWR 73 # Spektrum Power is Active High define HAL_SPEKTRUM_PWR_ENABLED 1 # UARTs # USART2 is telem1 PD6 USART2_RX USART2 PD5 USART2_TX USART2 PD3 USART2_CTS USART2 PD4 USART2_RTS USART2 # USART1 is GPS1 PB7 USART1_RX USART1 PB6 USART1_TX USART1 # USART3 is telem2 PD9 USART3_RX USART3 PD8 USART3_TX USART3 PD11 USART3_CTS USART3 PD12 USART3_RTS USART3 # UART4 GPS2 PA1 UART4_RX UART4 NODMA PA0 UART4_TX UART4 NODMA # UART7 is debug PE7 UART7_RX UART7 NODMA PE8 UART7_TX UART7 NODMA # UART8 is for IOMCU PE0 UART8_RX UART8 PE1 UART8_TX UART8 # UART for IOMCU IOMCU_UART UART8 # PWM AUX channels PE14 TIM1_CH4 TIM1 PWM(1) GPIO(50) PA10 TIM1_CH3 TIM1 PWM(2) GPIO(51) PE11 TIM1_CH2 TIM1 PWM(3) GPIO(52) PE9 TIM1_CH1 TIM1 PWM(4) GPIO(53) PA15 TIM2_CH1 TIM2 PWM(5) GPIO(54) PA7 TIM3_CH2 TIM3 PWM(6) GPIO(55) PC6 TIM3_CH1 TIM3 PWM(7) GPIO(56) PA3 TIM2_CH4 TIM2 PWM(8) GPIO(57) # PWM output for buzzer PE5 TIM9_CH1 TIM9 GPIO(77) ALARM # analog in PA2 BATT_VOLTAGE_SENS ADC1 SCALE(1) PA5 BATT_CURRENT_SENS ADC1 SCALE(1) PC3 SPARE1_ADC1 ADC1 SCALE(1) PA4 SPARE2_ADC1 ADC1 SCALE(1) PC0 VDD_5V_SENS ADC1 SCALE(2) PC2 SCALED_V3V3 ADC1 SCALE(2) # setup scaling defaults for PixHackV5 power brick define HAL_BATT_VOLT_SCALE 18.0 define HAL_BATT_CURR_SCALE 24.0 define HAL_BATT_VOLT_PIN 0 define HAL_BATT_CURR_PIN 1 # CAN bus PD0 CAN1_RX CAN1 PD1 CAN1_TX CAN1 PB5 CAN2_RX CAN2 PB13 CAN2_TX CAN2 # GPIOs PC5 VDD_BRICK_nVALID INPUT PULLUP PB1 VDD_BRICK2_nVALID INPUT PULLUP PB2 VBUS_nVALID INPUT PULLUP PE10 VDD_5V_HIPOWER_nOC INPUT PULLUP PE15 VDD_5V_PERIPH_nOC INPUT PULLUP # SPI devices SPIDEV bmi088_a SPI1 DEVID2 BMI088_A_CS MODE3 10*MHZ 10*MHZ SPIDEV bmi088_g SPI1 DEVID1 BMI088_G_CS MODE3 10*MHZ 10*MHZ SPIDEV imu2 SPI1 DEVID3 ICM42688_CS MODE3 2*MHZ 8*MHZ SPIDEV osd SPI2 DEVID2 AT7456_CS MODE0 10*MHZ 10*MHZ SPIDEV ramtron SPI2 DEVID1 FRAM_CS MODE3 8*MHZ 8*MHZ # up to 2 IMUs IMU Invensensev3 SPI:imu2 ROTATION_PITCH_180_YAW_270 IMU BMI088 SPI:bmi088_a SPI:bmi088_g ROTATION_PITCH_180 define HAL_DEFAULT_INS_FAST_SAMPLE 1 # probe external I2C compasses plus some internal IST8310 # we also probe some external IST8310 with a non-standard orientation define HAL_PROBE_EXTERNAL_I2C_COMPASSES # we need to stop the probe of an IST8310 as an internal compass with PITCH_180 define HAL_COMPASS_DISABLE_IST8310_INTERNAL_PROBE COMPASS IST8310 I2C:ALL_INTERNAL:0x0E false ROTATION_YAW_180 # one baro BARO SPL06 I2C:0:0x76 # microSD support PC8 SDMMC_D0 SDMMC1 PC9 SDMMC_D1 SDMMC1 PC10 SDMMC_D2 SDMMC1 PC11 SDMMC_D3 SDMMC1 PC12 SDMMC_CK SDMMC1 PD2 SDMMC_CMD SDMMC1 # red LED marked as B/E PD14 LED_RED OUTPUT GPIO(90) # green LED marked as PWR. We leave this solid on, but allow # for it to be controlled as a relay if needed PC1 LED_GREEN OUTPUT GPIO(91) # blue LED marked as ACT PC7 LED_BLUE OUTPUT GPIO(92) # setup for "pixracer" RGB LEDs define AP_NOTIFY_GPIO_LED_RGB_RED_PIN 90 define AP_NOTIFY_GPIO_LED_RGB_GREEN_PIN 91 define AP_NOTIFY_GPIO_LED_RGB_BLUE_PIN 92 define AP_NOTIFY_GPIO_LED_RGB_ENABLED 1 # enable RAMTROM parameter storage define HAL_STORAGE_SIZE 32768 define HAL_WITH_RAMTRON 1 # allow to have have a dedicated safety switch pin define HAL_HAVE_SAFETY_SWITCH 1 define HAL_COMPASS_AUTO_ROT_DEFAULT 2 DMA_PRIORITY SDMMC* UART8* ADC* USART3_RX TIM1_UP USART2_RX USART1_RX TIM1_CH3 SPI4* SPI1_RX SPI2* TIM1_CH1 SPI1_TX TIM* # enable FAT filesystem support (needs a microSD defined via SDMMC) define HAL_OS_FATFS_IO 1 ROMFS io_firmware.bin Tools/IO_Firmware/iofirmware_lowpolh.bin # setup for OSD define OSD_ENABLED 1 define HAL_OSD_TYPE_DEFAULT 1 ROMFS_WILDCARD libraries/AP_OSD/fonts/font*.bin